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k=3; t=0.5; mes_start=[10 10 10]'; a0=[100 10 0.1 2 0 0 0 0 0]'; p0=eye(9); mes_total=5; measurement=[1 1 1;2 2 2;15 15 15;20 20 20;5 5 5]'; vmin=0; vmax=50; r=eye(3); yz1=100;

k=3; t=0.5; mes_start=[0 0]'; a0=[1 1 1 1 1 1]'; p0=eye(6); mes_total=5; measurement=[1 2 3 4 5;1 2 3 4 5]; vmin=0; vmax=10; r=eye(2); yz1=2.5;

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

function observe_heading(phi, useheading) %function observe_heading(phi, useheading) % % Perform state update for a given heading measurement, phi, % with fixed measurement noise: sigmaPhi global

function observe_heading(phi, useheading) %function observe_heading(phi, useheading) % % Perform state update for a given heading measurement, phi, % with fixed measurement noise: sigmaPhi global

;------------------------------------------------------------------------------ ;- ATMEL Microcontroller Software Support - ROUSSET - ;----------------------------------------------------

%MESG Display progress information. % MESG subroutine displays progress status when performing MIMO system % performance measurement. Therefore it makes no sense to run this % routine alone.

% NLOS mitigation based on Huber M estimation % 2007.3.18 % written by Tang Hong % IEEE Trans. On signal processing,vol47,No.4, 1999 % " robust Huber adaptive filter" clc; clear;

MEASURE#PARAM # Create Create measurement. # Delete Delete measurement. # Redo Redo measurement. #

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